ArLMS2xxPacketReceiver Class Reference

#include <ArLMS2xxPacketReceiver.h>

List of all members.

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Detailed Description

Given a device connection it receives packets from the sick through it.

Public Member Functions
	ArLMS2xxPacketReceiver (ArDeviceConnection *deviceConnection, unsigned char receivingAddress=0, bool allocatePackets=false, bool useBase0Address=false)
	Constructor with assignment of a device connection.
	ArLMS2xxPacketReceiver (unsigned char receivingAddress=0, bool allocatePackets=false, bool useBase0Address=false)
	Constructor without an already assigned device connection.
ArDeviceConnection *	getDeviceConnection (void)
	Gets the device this instance receives packets from.
bool	isAllocatingPackets (void)
	Gets whether or not the receiver is allocating packets.
ArLMS2xxPacket *	receivePacket (unsigned int msWait=0)
	Receives a packet from the robot if there is one available.
void	setDeviceConnection (ArDeviceConnection *deviceConnection)
	Sets the device this instance receives packets from.
virtual	~ArLMS2xxPacketReceiver ()
	Destructor.
Protected Types
enum	{ STATE_START, STATE_ADDR, STATE_START_COUNT, STATE_ACQUIRE_DATA }
	STATE_ACQUIRE_DATA
	STATE_ADDR
	STATE_START
	STATE_START_COUNT
Protected Attributes
bool	myAllocatePackets
ArDeviceConnection *	myDeviceConn
ArLMS2xxPacket	myPacket
unsigned char	myReceivingAddress
bool	myUseBase0Address

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Constructor & Destructor Documentation

ArLMS2xxPacketReceiver::ArLMS2xxPacketReceiver	(	unsigned char	receivingAddress = 0,
		bool	allocatePackets = false,
		bool	useBase0Address = false
	)

Constructor without an already assigned device connection.

Parameters:

allocatePackets

whether to allocate memory for the packets before returning them (true) or to just return a pointer to an internal packet (false)... most everything should use false as this will help prevent many memory leaks or corruptions

ArLMS2xxPacketReceiver::ArLMS2xxPacketReceiver	(	ArDeviceConnection *	deviceConnection,
		unsigned char	receivingAddress = 0,
		bool	allocatePackets = false,
		bool	useBase0Address = false
	)

Constructor with assignment of a device connection.

Parameters:

	deviceConnection	the connection which the receiver will use
	allocatePackets	whether to allocate memory for the packets before returning them (true) or to just return a pointer to an internal packet (false)... most everything should use false as this will help prevent many memory leaks or corruptions

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Member Function Documentation

ArLMS2xxPacket * ArLMS2xxPacketReceiver::receivePacket

(

unsigned int

msWait = 0

)

Receives a packet from the robot if there is one available.

Parameters:

msWait

how long to block for the start of a packet, nonblocking if 0

Returns:

NULL if there are no packets in alloted time, otherwise a pointer to the packet received, if allocatePackets is true than the place that called this function owns the packet and should delete the packet when done... if allocatePackets is false then nothing must store a pointer to this packet, the packet must be used and done with by the time this method is called again

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The documentation for this class was generated from the following files:

• ArLMS2xxPacketReceiver.h
• ArLMS2xxPacketReceiver.cpp

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